def transform(cls, value):
value = np.asarray(value, dtype=np.float64)
result = np.empty_like(value)
x, y, z = value.T
xy = np.hypot(x, y)
result[..., 0] = np.hypot(xy, z)
result[..., 1] = np.arctan2(xy, z) % (2 * np.pi)
result[..., 2] = np.arctan2(y, x) % (2 * np.pi)
return result
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